version: 66.09
glider: 181
mission: 6
dive: 186
start: 7 15 111 22 29 14
data:
$ID,181
$MISSION,6
$DIVE,186
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40753.316
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,150711,222230,1925.728,12029.798,35,1.0,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.6
$GPS2,150711,222849,1925.793,12029.820,11,1.0,17,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,180.1,95055,-15.3,-11.000
$D_GRID,2903
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,2,0.000,0.000,211,2625,2431,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.2,-3.5,10,137,7.82,1.80,-26.98,0.000,4,0.229,0.060,2132,3756,3766,0,0,0,0,0,0
$GC,205,-0.52,-219.0,55.8,-63.8,28,213,0.00,1.77,0.00,0.000,6,0.000,0.024,2132,2566,3766,0,0,0,0,0,0
$GC,339,-0.52,-219.0,109.8,-33.0,53,347,0.00,1.90,0.00,0.000,4,0.000,0.045,2123,3761,3768,0,0,0,0,0,0
$GC,395,-0.52,-219.0,129.0,-32.4,63,403,0.00,1.58,0.00,0.000,6,0.000,0.024,2123,2689,3767,0,0,0,0,0,0
$GC,529,-0.52,-219.0,169.8,-31.7,88,537,0.00,2.20,0.00,0.000,4,0.000,0.028,2123,1215,3766,0,0,0,0,0,0
$GC,602,-0.52,-219.0,184.6,-13.7,101,610,0.10,2.22,0.00,0.000,6,0.122,0.036,2148,2650,3769,0,0,0,0,0,0
$GC,739,-0.52,-219.0,199.7,-12.4,126,747,0.00,1.73,0.00,0.000,4,0.000,0.043,2141,3770,3769,0,0,0,0,0,0
$GC,776,-0.52,-219.0,204.8,-12.3,130,780,0.00,1.60,0.00,0.000,6,0.000,0.024,2142,2689,3769,0,0,0,0,0,0
$GC,1108,-0.52,-219.0,253.8,-14.7,161,1112,0.00,2.15,0.00,0.000,4,0.000,0.028,2141,1205,3769,0,0,0,0,0,0
$GC,1185,-0.52,-219.0,263.3,-9.8,167,1192,0.00,2.17,0.00,0.000,6,0.000,0.034,2139,2655,3769,0,0,0,0,0,0
$GC,1510,-0.52,-219.0,311.4,-16.6,198,1514,0.00,1.70,0.00,0.000,4,0.000,0.045,2138,3783,3765,0,0,0,0,0,0
$GC,1544,-0.52,-219.0,317.1,-16.9,201,1548,0.00,1.65,0.00,0.000,6,0.000,0.025,2138,2637,3767,0,0,0,0,0,0
$GC,1875,-0.52,-219.0,369.4,-18.9,232,1879,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3780,3764,0,0,0,0,0,0
$GC,1902,-0.52,-219.0,374.1,-16.1,234,1909,0.00,1.65,0.00,0.000,6,0.000,0.025,2137,2655,3764,0,0,0,0,0,0
$GC,2229,-0.52,-219.0,422.1,-15.2,265,2233,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1197,3760,0,0,0,0,0,0
$GC,2303,-0.52,-219.0,431.1,-10.5,271,2307,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2641,3759,0,0,0,0,0,0
$GC,2634,-0.52,-219.0,474.6,-13.6,302,2638,0.00,1.73,0.00,0.000,4,0.000,0.047,2136,3779,3756,0,0,0,0,0,0
$GC,2669,-0.52,-219.0,479.1,-12.9,305,2672,0.00,1.65,0.00,0.000,6,0.000,0.025,2138,2639,3756,0,0,0,0,0,0
$GC,3007,-0.52,-219.0,519.8,-11.3,329,3011,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1210,3752,0,0,0,0,0,0
$GC,3068,-0.52,-219.0,526.1,-9.4,331,3075,0.00,2.17,0.00,0.000,6,0.000,0.037,2143,2638,3752,0,0,0,0,0,0
$GC,3384,-0.52,-219.0,563.1,-12.8,347,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2639,3749,0,0,0,0,0,0
$GC,3693,-0.52,-219.0,605.4,-13.9,362,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2638,3746,0,0,0,0,0,0
$GC,4003,-0.52,-219.0,641.3,-10.7,377,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2638,3744,0,0,0,0,0,0
$GC,4312,-0.52,-219.0,671.0,-9.1,392,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2639,3741,0,0,0,0,0,0
$GC,4622,-0.52,-219.0,695.4,-7.9,407,4626,0.00,1.75,0.00,0.000,4,0.000,0.050,2138,3781,3738,0,0,0,0,0,0
$GC,4646,-0.52,-219.0,697.2,-8.1,408,4649,0.00,1.67,0.00,0.000,6,0.000,0.028,2138,2637,3738,0,0,0,0,0,0
$GC,4979,-0.52,-219.0,719.7,-7.2,424,4983,0.00,2.12,0.00,0.000,4,0.000,0.032,2138,1199,3738,0,0,0,0,0,0
$GC,5048,-0.52,-219.0,724.9,-7.3,427,5052,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2621,3735,0,0,0,0,0,0
$GC,5375,-0.52,-219.0,752.4,-8.7,443,5379,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3768,3732,0,0,0,0,0,0
$GC,5407,-0.52,-219.0,755.3,-8.2,444,5411,0.00,1.73,0.00,0.000,6,0.000,0.027,2139,2617,3732,0,0,0,0,0,0
$GC,5730,-0.52,-219.0,782.1,-8.7,460,5734,0.00,2.08,0.00,0.000,4,0.000,0.032,2144,1206,3730,0,0,0,0,0,0
$GC,5785,-0.52,-219.0,787.0,-8.6,462,5792,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2617,3730,0,0,0,0,0,0
$GC,6102,-0.52,-219.0,813.1,-8.3,478,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2617,3729,0,0,0,0,0,0
$GC,6410,-0.52,-219.0,837.6,-7.6,493,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2617,3727,0,0,0,0,0,0
$GC,6720,-0.52,-219.0,860.2,-7.1,508,6724,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1206,3725,0,0,0,0,0,0
$GC,6770,-0.52,-219.0,863.7,-6.8,510,6775,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2606,3725,0,0,0,0,0,0
$GC,7092,-0.52,-219.0,889.3,-8.8,526,7096,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1205,3723,0,0,0,0,0,0
$GC,7114,-0.52,-219.0,891.6,-8.9,527,7118,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2603,3723,0,0,0,0,0,0
$GC,7436,-0.52,-219.0,921.0,-9.2,543,7440,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1207,3722,0,0,0,0,0,0
$GC,7464,-0.52,-219.0,923.7,-9.0,544,7468,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2600,3722,0,0,0,0,0,0
$GC,7786,-0.52,-219.0,948.1,-6.8,560,7790,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1195,3721,0,0,0,0,0,0
$GC,7813,-0.52,-219.0,949.9,-6.5,561,7817,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2588,3721,0,0,0,0,0,0
$GC,8141,-0.52,-219.0,966.8,-5.1,577,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2589,3719,0,0,0,0,0,0
$GC,8450,-0.52,-219.0,983.9,-5.9,592,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2588,3718,0,0,0,0,0,0
$STATE,8551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8551,begin apogee
$GC,8557,-0.13,0.0,990.8,6.7,597,8729,0.40,0.00,165.05,1.099,4,0.109,0.000,2275,2110,2868,0,0,0,0,0,0
$STATE,8730,end apogee,CONTROL_FINISHED_OK
$STATE,8730,begin climb
$GC,8732,0.52,219.0,999.5,0.0,605,8917,0.62,2.40,175.48,1.074,4,0.055,0.044,2506,3541,1976,0,0,0,0,0,0
$GC,9085,0.52,219.0,963.2,15.0,621,9089,0.00,2.20,0.00,0.000,6,0.000,0.028,2519,2135,1978,0,0,0,0,0,0
$GC,9408,0.52,219.0,916.3,14.5,637,9412,0.00,2.22,0.00,0.000,4,0.000,0.041,2516,3544,1980,0,0,0,0,0,0
$GC,9547,0.52,219.0,893.8,16.2,643,9552,0.15,2.20,0.00,0.000,6,0.185,0.028,2489,2100,1980,0,0,0,0,0,0
$GC,9869,0.52,219.0,851.6,13.2,659,9873,0.00,2.10,0.00,0.000,4,0.000,0.038,2499,717,1980,0,0,0,0,0,0
$GC,9963,0.52,219.0,838.6,13.3,663,9967,0.00,2.12,0.00,0.000,6,0.000,0.033,2499,2108,1980,0,0,0,0,0,0
$GC,10286,0.52,219.0,793.0,14.4,679,10290,0.00,2.20,0.00,0.000,4,0.000,0.044,2499,3538,1981,0,0,0,0,0,0
$GC,10371,0.52,219.0,779.5,16.2,683,10375,0.00,2.17,0.00,0.000,6,0.000,0.028,2508,2095,1981,0,0,0,0,0,0
$GC,10697,0.52,219.0,728.3,15.9,699,10701,0.00,2.08,0.00,0.000,4,0.000,0.037,2519,716,1981,0,0,0,0,0,0
$GC,10787,0.52,219.0,714.0,15.7,703,10790,0.00,2.10,0.00,0.000,6,0.000,0.033,2519,2093,1980,0,0,0,0,0,0
$GC,11114,0.52,219.0,660.9,16.0,719,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2093,1979,0,0,0,0,0,0
$GC,11424,0.52,219.0,612.9,14.8,734,11428,0.00,2.22,0.00,0.000,4,0.000,0.044,2519,3542,1980,0,0,0,0,0,0
$GC,11524,0.52,219.0,596.7,16.1,738,11532,0.10,2.22,0.00,0.000,6,0.156,0.028,2488,2096,1980,0,0,0,0,0,0
$GC,11841,0.52,219.0,558.7,12.2,754,11845,0.00,2.08,0.00,0.000,4,0.000,0.038,2497,713,1979,0,0,0,0,0,0
$GC,11890,0.52,219.0,552.2,12.3,756,11894,0.00,2.12,0.00,0.000,6,0.000,0.032,2497,2086,1979,0,0,0,0,0,0
$GC,12212,0.52,219.0,510.2,13.1,772,12216,0.00,2.22,0.00,0.000,4,0.000,0.044,2497,3539,1979,0,0,0,0,0,0
$GC,12284,0.52,219.0,499.5,15.1,775,12288,0.00,2.15,0.00,0.000,6,0.000,0.028,2505,2104,1980,0,0,0,0,0,0
$GC,12614,0.52,219.0,449.7,15.6,806,12618,0.00,2.08,0.00,0.000,4,0.000,0.038,2517,720,1980,0,0,0,0,0,0
$GC,12703,0.52,219.0,435.5,15.2,813,12710,0.00,2.10,0.00,0.000,6,0.000,0.033,2517,2108,1979,0,0,0,0,0,0
$GC,13029,0.52,219.0,386.8,13.6,844,13033,0.00,2.20,0.00,0.000,4,0.000,0.044,2517,3539,1980,0,0,0,0,0,0
$GC,13045,0.52,219.0,384.4,13.5,845,13052,0.15,2.17,0.00,0.000,6,0.167,0.028,2488,2088,1980,0,0,0,0,0,0
$GC,13371,0.58,261.4,350.4,9.6,876,13409,0.00,2.10,33.22,0.701,4,0.000,0.037,2498,715,1802,0,0,0,0,0,0
$GC,13472,0.63,304.9,340.8,9.5,884,13512,0.00,2.10,32.62,0.668,6,0.000,0.031,2497,2078,1625,0,0,0,0,0,0
$GC,13830,0.63,304.9,302.4,12.7,918,13834,0.00,2.28,0.00,0.000,4,0.000,0.044,2497,3540,1623,0,0,0,0,0,0
$GC,13947,0.63,304.9,286.1,13.3,928,13951,0.00,2.20,0.00,0.000,6,0.000,0.028,2507,2091,1623,0,0,0,0,0,0
$GC,14272,0.63,304.9,248.5,11.1,958,14277,0.00,2.25,0.00,0.000,4,0.000,0.040,2507,3543,1623,0,0,0,0,0,0
$GC,14305,0.63,304.9,244.3,12.4,960,14313,0.00,2.20,0.00,0.000,6,0.000,0.028,2516,2117,1623,0,0,0,0,0,0
$GC,14634,0.68,346.1,206.8,9.6,991,14670,0.00,2.22,30.48,0.605,4,0.000,0.037,2527,711,1458,0,0,0,0,0,0
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$STATE,16304,end climb,SURFACE_DEPTH_REACHED
$STATE,16304,begin surface coast
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$STATE,16321,end surface coast,CONTROL_FINISHED_OK
$STATE,16321,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,41.49
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,23.6,29.553
$10V_AH,10.0,29.219
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.575,163.575,626.975,0.000,0.000,27.757,21.351,175.207,0.250,0.000,19.979,3076.068,9470.260,667.737,3206.820,346.183,0.000,2042.471,0.000,2262.771,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321560
$DATA_FILE_SIZE,87181,1278
$CAP_FILE_SIZE,173785,0
$CFSIZE,260165632,233705472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,030336,1924.319,12030.338,23,1.8,23,-2.1